frame_id stringlengths 14 14 | timestamp_ms int64 1,775B 1,775B | capture_rate_hz int64 30 90 | scene_type stringclasses 5
values | clutter_level float64 0.25 0.98 | domain_randomization dict | camera_extrinsics dict | robot_state dict | vision_data dict | objects listlengths 12 42 | annotations dict | edge_case_flags listlengths 0 7 |
|---|---|---|---|---|---|---|---|---|---|---|---|
FRAME-00000001 | 1,775,282,577,973 | 90 | dining_room | 0.525 | {
"lighting_lux": 579.4,
"texture_variation": 0.761,
"color_shift": 0.031
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.079,
1.374
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.256,
"y": -0.886,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.617,
0.853,
1.012
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.422,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000002 | 1,775,282,577,978 | 60 | bathroom | 0.587 | {
"lighting_lux": 246.9,
"texture_variation": 0.941,
"color_shift": -0.074
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.078,
1.384
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.238,
"y": -1.271,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.678,
0.253,
0.834
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.369,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000003 | 1,775,282,577,981 | 30 | bathroom | 0.889 | {
"lighting_lux": 67.1,
"texture_variation": 0.72,
"color_shift": -0.148
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.082,
1.387
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.019,
"y": -0.942,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.496,
0.288,
0.819
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000004 | 1,775,282,577,984 | 90 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.968,
"color_shift": 0.102
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.082,
1.363
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.27,
"y": -0.754,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.327,
0.42,
0.798
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000005 | 1,775,282,577,986 | 90 | bathroom | 0.292 | {
"lighting_lux": 391.1,
"texture_variation": 0.8,
"color_shift": -0.132
} | {
"camera_to_base_transform": {
"position": [
0.161,
0.079,
1.665
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.084,
"y": -0.714,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.657,
0.173,
0.971
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00000006 | 1,775,282,577,989 | 30 | living_room | 0.905 | {
"lighting_lux": 849.9,
"texture_variation": 0.965,
"color_shift": 0.118
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.53
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.674,
"y": -1.016,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.69,
0.665,
0.853
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000007 | 1,775,282,577,993 | 90 | kitchen | 0.836 | {
"lighting_lux": 114.7,
"texture_variation": 0.881,
"color_shift": -0.099
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.078,
1.373
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.009,
"y": -0.956,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.161,
0.429,
0.959
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00000008 | 1,775,282,577,997 | 60 | dining_room | 0.679 | {
"lighting_lux": 442.7,
"texture_variation": 0.656,
"color_shift": -0.147
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.078,
1.5
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.329,
"y": -0.671,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.352,
0.308,
0.943
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000009 | 1,775,282,578,001 | 90 | dining_room | 0.721 | {
"lighting_lux": 564.6,
"texture_variation": 0.528,
"color_shift": 0.113
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.08,
1.318
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.169,
"y": -0.87,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.574,
0.268,
0.789
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.64... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000010 | 1,775,282,578,005 | 60 | dining_room | 0.6 | {
"lighting_lux": 18.1,
"texture_variation": 0.717,
"color_shift": 0.084
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.082,
1.47
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.058,
"y": -0.877,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.248,
0.422,
0.611
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00000011 | 1,775,282,578,008 | 30 | bedroom | 0.452 | {
"lighting_lux": 82.2,
"texture_variation": 0.411,
"color_shift": -0.043
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.076,
1.388
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.194,
"y": -1.028,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.811,
0.228,
0.562
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000012 | 1,775,282,578,012 | 90 | kitchen | 0.594 | {
"lighting_lux": 264.3,
"texture_variation": 0.669,
"color_shift": -0.038
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.079,
1.479
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.14,
"y": -0.826,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.224,
0.748,
0.532
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000013 | 1,775,282,578,017 | 90 | dining_room | 0.575 | {
"lighting_lux": 348.8,
"texture_variation": 0.424,
"color_shift": -0.024
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.08,
1.454
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.176,
"y": -0.755,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.617,
0.561,
0.664
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000014 | 1,775,282,578,022 | 30 | living_room | 0.268 | {
"lighting_lux": 190.6,
"texture_variation": 0.655,
"color_shift": 0.123
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.483
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.332,
"y": -0.899,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.812,
0.246,
0.383
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000015 | 1,775,282,578,026 | 30 | living_room | 0.306 | {
"lighting_lux": 289.5,
"texture_variation": 0.7,
"color_shift": 0.079
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.084,
1.496
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.98,
"y": -1.227,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.278,
0.442,
0.679
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000016 | 1,775,282,578,029 | 30 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.567,
"color_shift": 0.054
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.078,
1.504
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.441,
"y": -1.041,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.252,
0.346,
0.561
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000017 | 1,775,282,578,033 | 30 | dining_room | 0.832 | {
"lighting_lux": 271.1,
"texture_variation": 0.835,
"color_shift": -0.126
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.082,
1.417
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.364,
"y": -0.873,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.119,
0.406,
0.697
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00000018 | 1,775,282,578,036 | 60 | bathroom | 0.744 | {
"lighting_lux": 914.1,
"texture_variation": 0.742,
"color_shift": 0.119
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.08,
1.487
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.305,
"y": -0.861,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.129,
0.357,
0.767
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000019 | 1,775,282,578,039 | 30 | bedroom | 0.858 | {
"lighting_lux": 22.9,
"texture_variation": 0.43,
"color_shift": -0.103
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.078,
1.708
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.18,
"y": -0.979,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.274,
0.465,
0.838
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"low_lighting"
] |
FRAME-00000020 | 1,775,282,578,044 | 60 | dining_room | 0.95 | {
"lighting_lux": 32.1,
"texture_variation": 0.547,
"color_shift": 0.1
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.077,
1.34
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.272,
"y": -0.936,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.496,
0.429,
0.752
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.48... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000021 | 1,775,282,578,049 | 90 | bedroom | 0.521 | {
"lighting_lux": 472.7,
"texture_variation": 0.744,
"color_shift": 0.141
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.082,
1.436
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.068,
"y": -0.977,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.354,
0.612,
0.812
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00000022 | 1,775,282,578,054 | 90 | kitchen | 0.927 | {
"lighting_lux": 181.5,
"texture_variation": 0.93,
"color_shift": -0.021
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.08,
1.403
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.168,
"y": -0.714,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.577,
-0.013,
0.642
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.418,... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision"
] |
FRAME-00000023 | 1,775,282,578,058 | 60 | kitchen | 0.613 | {
"lighting_lux": 219.8,
"texture_variation": 0.789,
"color_shift": -0.128
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.524
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.197,
"y": -1.183,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.528,
0.378,
0.614
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.55... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000024 | 1,775,282,578,061 | 90 | living_room | 0.802 | {
"lighting_lux": 869.7,
"texture_variation": 0.827,
"color_shift": -0.001
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.08,
1.44
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.299,
"y": -0.872,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.604,
0.415,
0.649
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00000025 | 1,775,282,578,066 | 60 | kitchen | 0.443 | {
"lighting_lux": 452.8,
"texture_variation": 0.607,
"color_shift": -0.046
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.079,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.993,
"y": -0.96,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.421,
0.333,
0.848
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000026 | 1,775,282,578,070 | 60 | living_room | 0.457 | {
"lighting_lux": 924.5,
"texture_variation": 0.419,
"color_shift": -0.02
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.079,
1.366
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.281,
"y": -0.971,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.885,
0.597,
0.295
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000027 | 1,775,282,578,074 | 60 | bedroom | 0.346 | {
"lighting_lux": 937.6,
"texture_variation": 0.584,
"color_shift": 0.126
} | {
"camera_to_base_transform": {
"position": [
0.138,
0.077,
1.481
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.101,
"y": -0.834,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
1.181,
0.391,
0.86
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000028 | 1,775,282,578,076 | 90 | bedroom | 0.413 | {
"lighting_lux": 422.3,
"texture_variation": 0.408,
"color_shift": 0.048
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.084,
1.525
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.211,
"y": -1.051,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.475,
0.412,
0.704
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.87... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000029 | 1,775,282,578,081 | 60 | living_room | 0.608 | {
"lighting_lux": 29.3,
"texture_variation": 0.823,
"color_shift": 0.144
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.079,
1.485
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.509,
"y": -0.865,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.559,
0.294,
0.481
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000030 | 1,775,282,578,085 | 90 | dining_room | 0.721 | {
"lighting_lux": 564.6,
"texture_variation": 0.895,
"color_shift": 0.11
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.081,
1.52
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.37,
"y": -0.776,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.56,
0.425,
0.944
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.271... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000031 | 1,775,282,578,088 | 90 | living_room | 0.832 | {
"lighting_lux": 339.2,
"texture_variation": 0.916,
"color_shift": -0.114
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.319
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.115,
"y": -0.726,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.724,
0.294,
0.776
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter"
] |
FRAME-00000032 | 1,775,282,578,092 | 90 | bedroom | 0.254 | {
"lighting_lux": 187.6,
"texture_variation": 0.673,
"color_shift": -0.037
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.082,
1.5
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.317,
"y": -0.818,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.276,
0.649,
0.94
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.218... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000033 | 1,775,282,578,094 | 90 | bedroom | 0.452 | {
"lighting_lux": 82.2,
"texture_variation": 0.565,
"color_shift": 0.119
} | {
"camera_to_base_transform": {
"position": [
0.161,
0.082,
1.415
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.179,
"y": -0.779,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.626,
0.447,
0.73
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000034 | 1,775,282,578,099 | 30 | bedroom | 0.445 | {
"lighting_lux": 171.7,
"texture_variation": 0.875,
"color_shift": 0.122
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.078,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.276,
"y": -1.073,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.423,
0.361,
0.838
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.981,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000035 | 1,775,282,578,102 | 30 | living_room | 0.373 | {
"lighting_lux": 832.3,
"texture_variation": 0.888,
"color_shift": -0.008
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.086,
1.541
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.315,
"y": -0.997,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.617,
0.364,
0.696
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.713,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000036 | 1,775,282,578,105 | 90 | kitchen | 0.62 | {
"lighting_lux": 14.7,
"texture_variation": 0.518,
"color_shift": -0.068
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.079,
1.524
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.197,
"y": -1.126,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.301,
0.457,
0.957
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"reflective_surface"
] |
FRAME-00000037 | 1,775,282,578,107 | 30 | kitchen | 0.69 | {
"lighting_lux": 1000.9,
"texture_variation": 0.926,
"color_shift": 0.013
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.078,
1.465
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.021,
"y": -0.704,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.781,
0.771,
0.699
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00000038 | 1,775,282,578,111 | 30 | bedroom | 0.746 | {
"lighting_lux": 249.1,
"texture_variation": 0.604,
"color_shift": -0.056
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.077,
1.426
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.368,
"y": -0.86,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.754,
0.358,
0.916
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00000039 | 1,775,282,578,115 | 30 | bathroom | 0.539 | {
"lighting_lux": 946.9,
"texture_variation": 0.545,
"color_shift": 0.018
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.076,
1.429
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.01,
"y": -0.95,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.625,
0.247,
0.923
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00000040 | 1,775,282,578,119 | 90 | living_room | 0.823 | {
"lighting_lux": 414.5,
"texture_variation": 0.99,
"color_shift": 0.029
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.084,
1.461
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.222,
"y": -0.868,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.417,
0.105,
0.804
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.57... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00000041 | 1,775,282,578,124 | 60 | bedroom | 0.517 | {
"lighting_lux": 812.6,
"texture_variation": 0.721,
"color_shift": -0.028
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.078,
1.383
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.196,
"y": -0.739,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.418,
0.592,
1.08
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.124,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000042 | 1,775,282,578,127 | 90 | dining_room | 0.694 | {
"lighting_lux": 574.7,
"texture_variation": 0.989,
"color_shift": 0.05
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.079,
1.446
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.297,
"y": -0.972,
"yaw_deg": 192.98
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.598,
0.55,
1.306
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.456... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000043 | 1,775,282,578,130 | 60 | dining_room | 0.546 | {
"lighting_lux": 682.1,
"texture_variation": 0.585,
"color_shift": 0.02
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.08,
1.621
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.246,
"y": -0.76,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.629,
-0.029,
0.297
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg":... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000044 | 1,775,282,578,134 | 90 | bedroom | 0.634 | {
"lighting_lux": 214,
"texture_variation": 0.509,
"color_shift": 0.025
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.084,
1.422
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.295,
"y": -0.896,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.912,
0.598,
0.655
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00000045 | 1,775,282,578,137 | 30 | kitchen | 0.656 | {
"lighting_lux": 33.6,
"texture_variation": 0.969,
"color_shift": 0.125
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.084,
1.38
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.428,
"y": -0.935,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.678,
0.282,
0.716
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.498,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000046 | 1,775,282,578,141 | 60 | bathroom | 0.873 | {
"lighting_lux": 218.7,
"texture_variation": 0.439,
"color_shift": 0.125
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.082,
1.484
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.937,
"y": -1.133,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.212,
0.263,
1.075
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.336,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00000047 | 1,775,282,578,145 | 90 | bedroom | 0.527 | {
"lighting_lux": 922.4,
"texture_variation": 0.652,
"color_shift": -0.137
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.44
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.033,
"y": -0.813,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.418,
0.423,
0.4
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.925... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000048 | 1,775,282,578,149 | 90 | bedroom | 0.746 | {
"lighting_lux": 249.1,
"texture_variation": 0.485,
"color_shift": -0.073
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.434
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.165,
"y": -1.064,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.799,
0.359,
0.76
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.262,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00000049 | 1,775,282,578,152 | 90 | dining_room | 0.481 | {
"lighting_lux": 802.9,
"texture_variation": 0.822,
"color_shift": -0.053
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.078,
1.387
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.206,
"y": -0.774,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.808,
0.24,
0.81
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.78,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00000050 | 1,775,282,578,155 | 90 | kitchen | 0.656 | {
"lighting_lux": 33.6,
"texture_variation": 0.942,
"color_shift": 0.036
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.527
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.262,
"y": -0.426,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.578,
0.3,
0.797
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.074,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00000051 | 1,775,282,578,158 | 30 | dining_room | 0.694 | {
"lighting_lux": 574.7,
"texture_variation": 0.402,
"color_shift": 0.025
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.078,
1.492
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.083,
"y": -1.026,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.725,
0.73,
0.575
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000052 | 1,775,282,578,161 | 90 | bathroom | 0.847 | {
"lighting_lux": 584.6,
"texture_variation": 0.447,
"color_shift": 0.109
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.078,
1.332
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.253,
"y": -0.643,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.932,
0.556,
0.626
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00000053 | 1,775,282,578,164 | 90 | kitchen | 0.252 | {
"lighting_lux": 456.9,
"texture_variation": 0.417,
"color_shift": 0.079
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.077,
1.521
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.041,
"y": -0.779,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.545,
0.485,
0.411
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.414,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00000054 | 1,775,282,578,167 | 60 | living_room | 0.26 | {
"lighting_lux": 32.9,
"texture_variation": 0.747,
"color_shift": 0.096
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.079,
1.402
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.164,
"y": -1.076,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.507,
0.382,
0.944
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.455,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00000055 | 1,775,282,578,170 | 60 | bathroom | 0.389 | {
"lighting_lux": 14.1,
"texture_variation": 0.471,
"color_shift": -0.066
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.079,
1.444
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.27,
"y": -0.951,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.668,
0.365,
0.973
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"grasped_sharp_object"
] |
FRAME-00000056 | 1,775,282,578,173 | 60 | living_room | 0.569 | {
"lighting_lux": 800.4,
"texture_variation": 0.918,
"color_shift": 0.007
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.077,
1.454
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.283,
"y": -0.92,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.37,
0.195,
0.654
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000057 | 1,775,282,578,175 | 90 | kitchen | 0.424 | {
"lighting_lux": 519.4,
"texture_variation": 0.55,
"color_shift": -0.116
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.074,
1.501
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.115,
"y": -0.966,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.422,
0.168,
0.696
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.99... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000058 | 1,775,282,578,179 | 30 | kitchen | 0.491 | {
"lighting_lux": 925.7,
"texture_variation": 0.488,
"color_shift": -0.044
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.492
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.241,
"y": -1.033,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.497,
0.118,
1.1
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.892,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00000059 | 1,775,282,578,183 | 90 | dining_room | 0.474 | {
"lighting_lux": 366.1,
"texture_variation": 0.838,
"color_shift": -0.044
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.078,
1.255
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.281,
"y": -1.132,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.41,
0.174,
0.796
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000060 | 1,775,282,578,188 | 30 | bedroom | 0.289 | {
"lighting_lux": 1070.6,
"texture_variation": 0.909,
"color_shift": -0.098
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.081,
1.359
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.932,
"y": -0.944,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.537,
0.395,
0.771
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000061 | 1,775,282,578,193 | 60 | bedroom | 0.708 | {
"lighting_lux": 103,
"texture_variation": 0.494,
"color_shift": 0.034
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.082,
1.386
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.322,
"y": -0.838,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.355,
0.366,
0.346
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.102,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00000062 | 1,775,282,578,197 | 30 | dining_room | 0.721 | {
"lighting_lux": 564.6,
"texture_variation": 0.748,
"color_shift": 0.011
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.08,
1.432
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.287,
"y": -0.787,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.377,
0.516,
0.685
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000063 | 1,775,282,578,201 | 30 | dining_room | 0.474 | {
"lighting_lux": 366.1,
"texture_variation": 0.987,
"color_shift": -0.103
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.078,
1.326
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.23,
"y": -1.062,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.553,
0.339,
0.641
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000064 | 1,775,282,578,204 | 90 | kitchen | 0.64 | {
"lighting_lux": 522,
"texture_variation": 0.945,
"color_shift": -0.077
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.083,
1.379
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.732,
"y": -1.054,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.584,
0.414,
0.66
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000065 | 1,775,282,578,207 | 60 | bedroom | 0.266 | {
"lighting_lux": 945.3,
"texture_variation": 0.452,
"color_shift": -0.131
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.08,
1.49
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.935,
"y": -1.069,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.51,
0.301,
1.13
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.146... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000066 | 1,775,282,578,211 | 90 | living_room | 0.378 | {
"lighting_lux": 802.9,
"texture_variation": 0.703,
"color_shift": 0.126
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.077,
1.392
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.031,
"y": -0.593,
"yaw_deg": 29.03
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.768,
0.501,
0.734
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000067 | 1,775,282,578,215 | 60 | bedroom | 0.266 | {
"lighting_lux": 945.3,
"texture_variation": 0.993,
"color_shift": -0.142
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.077,
1.525
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.462,
"y": -0.805,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.648,
0.693,
0.8
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.55... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000068 | 1,775,282,578,220 | 30 | bedroom | 0.708 | {
"lighting_lux": 103,
"texture_variation": 0.607,
"color_shift": 0.146
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.081,
1.583
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.151,
"y": -0.739,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.641,
0.672,
0.699
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00000069 | 1,775,282,578,225 | 90 | bedroom | 0.878 | {
"lighting_lux": 877.8,
"texture_variation": 0.721,
"color_shift": 0.124
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.079,
1.55
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.405,
"y": -1.028,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.315,
0.28,
0.53
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"dynamic_human_interaction"
] |
FRAME-00000070 | 1,775,282,578,229 | 30 | dining_room | 0.697 | {
"lighting_lux": 496.3,
"texture_variation": 0.771,
"color_shift": -0.039
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.081,
1.303
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.484,
"y": -0.662,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.321,
0.019,
1.334
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.593,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000071 | 1,775,282,578,232 | 30 | bathroom | 0.889 | {
"lighting_lux": 67.1,
"texture_variation": 0.889,
"color_shift": 0.09
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.079,
1.461
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.251,
"y": -0.616,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.26,
0.479,
0.916
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.898,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000072 | 1,775,282,578,235 | 30 | bathroom | 0.373 | {
"lighting_lux": 471.6,
"texture_variation": 0.543,
"color_shift": 0.07
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.08,
1.272
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.194,
"y": -0.782,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.575,
0.427,
0.733
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000073 | 1,775,282,578,238 | 90 | kitchen | 0.913 | {
"lighting_lux": 590.4,
"texture_variation": 0.885,
"color_shift": -0.118
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.452
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.127,
"y": -0.734,
"yaw_deg": 10.66
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.189,
0.332,
0.865
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000074 | 1,775,282,578,243 | 30 | living_room | 0.823 | {
"lighting_lux": 414.5,
"texture_variation": 0.602,
"color_shift": 0.074
} | {
"camera_to_base_transform": {
"position": [
0.134,
0.079,
1.598
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.121,
"y": -0.76,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.551,
0.174,
0.813
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.844,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00000075 | 1,775,282,578,246 | 30 | bedroom | 0.527 | {
"lighting_lux": 922.4,
"texture_variation": 0.887,
"color_shift": 0.146
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.077,
1.422
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.26,
"y": -1.116,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.344,
0.283,
0.854
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000076 | 1,775,282,578,250 | 60 | bedroom | 0.655 | {
"lighting_lux": 857.3,
"texture_variation": 0.81,
"color_shift": 0.125
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.081,
1.458
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.251,
"y": -0.662,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.337,
0.347,
0.698
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00000077 | 1,775,282,578,254 | 90 | bedroom | 0.521 | {
"lighting_lux": 472.7,
"texture_variation": 0.863,
"color_shift": 0.025
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.081,
1.439
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.306,
"y": -0.709,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.384,
0.715,
0.6
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.469,... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000078 | 1,775,282,578,258 | 60 | living_room | 0.393 | {
"lighting_lux": 1029.3,
"texture_variation": 0.532,
"color_shift": -0.12
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.082,
1.365
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.372,
"y": -0.638,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 23,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.91,
0.371,
0.739
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000079 | 1,775,282,578,261 | 90 | dining_room | 0.521 | {
"lighting_lux": 57.3,
"texture_variation": 0.415,
"color_shift": 0.075
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.08,
1.406
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.175,
"y": -0.589,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.225,
0.555,
0.782
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000080 | 1,775,282,578,264 | 30 | bedroom | 0.58 | {
"lighting_lux": 705.1,
"texture_variation": 0.627,
"color_shift": 0.039
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.076,
1.432
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.058,
"y": -0.769,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.608,
0.389,
0.801
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.301,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00000081 | 1,775,282,578,267 | 60 | kitchen | 0.727 | {
"lighting_lux": 675.8,
"texture_variation": 0.659,
"color_shift": -0.009
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.077,
1.491
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.253,
"y": -1.117,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.545,
0.634,
0.207
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"near_collision"
] |
FRAME-00000082 | 1,775,282,578,271 | 60 | bathroom | 0.802 | {
"lighting_lux": 420,
"texture_variation": 0.66,
"color_shift": -0.01
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.083,
1.478
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.203,
"y": -0.719,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.524,
0.265,
0.501
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur"
] |
FRAME-00000083 | 1,775,282,578,275 | 90 | dining_room | 0.722 | {
"lighting_lux": 765.8,
"texture_variation": 0.565,
"color_shift": -0.02
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.084,
1.295
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.439,
"y": -0.886,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.463,
0.594,
0.597
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.688,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000084 | 1,775,282,578,278 | 90 | bedroom | 0.92 | {
"lighting_lux": 800.7,
"texture_variation": 0.723,
"color_shift": -0.016
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.084,
1.567
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.318,
"y": -0.755,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.334,
0.528,
0.688
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.63... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00000085 | 1,775,282,578,281 | 30 | kitchen | 0.466 | {
"lighting_lux": 562.9,
"texture_variation": 0.765,
"color_shift": 0.116
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.085,
1.569
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.296,
"y": -0.916,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.193,
0.681,
0.416
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000086 | 1,775,282,578,285 | 60 | dining_room | 0.326 | {
"lighting_lux": 657,
"texture_variation": 0.966,
"color_shift": -0.086
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.08,
1.352
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.052,
"y": -0.741,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.423,
0.054,
0.754
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.58... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000087 | 1,775,282,578,289 | 30 | bedroom | 0.294 | {
"lighting_lux": 459.7,
"texture_variation": 0.977,
"color_shift": -0.079
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.077,
1.414
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.145,
"y": -0.757,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.596,
0.431,
0.621
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.93... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00000088 | 1,775,282,578,292 | 60 | bedroom | 0.805 | {
"lighting_lux": 927.3,
"texture_variation": 0.577,
"color_shift": 0.063
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.078,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.147,
"y": -0.988,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.527,
0.396,
1.11
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.095,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000089 | 1,775,282,578,295 | 30 | dining_room | 0.308 | {
"lighting_lux": 467.4,
"texture_variation": 0.478,
"color_shift": 0.13
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.377
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.98,
"y": -0.502,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.415,
0.639,
0.83
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000090 | 1,775,282,578,299 | 90 | bathroom | 0.743 | {
"lighting_lux": 615.6,
"texture_variation": 0.744,
"color_shift": 0.028
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.079,
1.548
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.108,
"y": -0.63,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.494,
0.541,
0.57
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00000091 | 1,775,282,578,302 | 60 | kitchen | 0.466 | {
"lighting_lux": 562.9,
"texture_variation": 0.433,
"color_shift": -0.066
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.081,
1.493
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.969,
"y": -0.747,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.049,
0.252,
0.685
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.959,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000092 | 1,775,282,578,305 | 90 | kitchen | 0.693 | {
"lighting_lux": 609.4,
"texture_variation": 0.856,
"color_shift": 0.05
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.078,
1.465
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.488,
"y": -1.008,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.667,
0.253,
0.724
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00000093 | 1,775,282,578,309 | 90 | bedroom | 0.922 | {
"lighting_lux": 150.1,
"texture_variation": 0.526,
"color_shift": 0.098
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.396
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.146,
"y": -1.109,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.715,
0.342,
0.508
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00000094 | 1,775,282,578,312 | 90 | kitchen | 0.693 | {
"lighting_lux": 609.4,
"texture_variation": 0.895,
"color_shift": -0.142
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.081,
1.507
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.027,
"y": -0.9,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.749,
0.34,
0.826
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.79... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00000095 | 1,775,282,578,315 | 30 | kitchen | 0.424 | {
"lighting_lux": 519.4,
"texture_variation": 0.753,
"color_shift": -0.134
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.554
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.953,
"y": -0.762,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.438,
0.408,
0.605
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00000096 | 1,775,282,578,318 | 60 | bedroom | 0.924 | {
"lighting_lux": 250.3,
"texture_variation": 0.519,
"color_shift": -0.136
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.081,
1.328
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.132,
"y": -0.857,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.205,
0.474,
0.681
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00000097 | 1,775,282,578,321 | 30 | bedroom | 0.458 | {
"lighting_lux": 71.9,
"texture_variation": 0.799,
"color_shift": 0.028
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.08,
1.425
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.082,
"y": -1.098,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.457,
0.258,
0.842
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.314,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00000098 | 1,775,282,578,324 | 30 | bedroom | 0.718 | {
"lighting_lux": 429.3,
"texture_variation": 0.755,
"color_shift": -0.141
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.077,
1.511
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.105,
"y": -1.266,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 23,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.629,
0.273,
0.442
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.551,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00000099 | 1,775,282,578,328 | 90 | living_room | 0.608 | {
"lighting_lux": 29.3,
"texture_variation": 0.531,
"color_shift": 0.113
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.076,
1.554
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.125,
"y": -1.142,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.785,
0.33,
1.081
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.50... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00000100 | 1,775,282,578,332 | 90 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.889,
"color_shift": -0.012
} | {
"camera_to_base_transform": {
"position": [
0.165,
0.08,
1.402
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.273,
"y": -1.015,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.604,
0.558,
0.388
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.